Cruise Cntrl is trying to be too smart...
I believe the cruise cntrl on our trucks can learn some bad habits over time. I saw a TSB that said it sometimes thinks that needs to "take up slack on the throttle" or someting like that when initially engaged. Anyway the fix is easy but takes some time. For the next maybe 20 times you set the CC, do it with your foot on the gas going exactly the speed you want (as opposed to using resume to get back to a previous set speed from a slower one).
I had this problem, and this process cured it. Hope it works for you.
--Mike